Calibration method for robot

• Main Author: KIM, EUN CHAN
• Format: Patent
• Language: English; Korean
• Published: 24.01.2004
• Edition: 7
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MANIPULATORS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; TRANSPORTING

PURPOSE: A calibration method of a robot is provided to quickly obtain accurate calibration data by using calibration position data obtained by moving a robot arm for a reference position of movement displacement of the robot arm without a separate device for calibration. CONSTITUTION: A calibration method of a robot including a robot arm installed to a robot shaft with restricting movement displacement is composed of steps of obtaining first movement displacement between a normal position of the robot arm and a self-collision position that the robot arm collides to the robot shaft; obtaining second movement displacement between a present position of the robot arm and the self-collision position by moving the robot arm to the self-collision position(S111,S114); and correcting the present position of the robot arm to the normal position based on deviation between first and second movement displacements(S116). 본 발명은 로봇의 캘리브레이션 방법에 관한 것으로, 기구적으로 이동변위가 제한된 로봇 암을 구비한 로봇의 캘리브레이션 방법에 있어서, 로봇 암의 정상 위치와 로봇 암이 자기 몸체에 충돌하는 자기 충돌 위치사이의 제 1이동변위를 얻고, 로봇 암을 자기 충돌 위치로 이동시켜 로봇 암의 현재 위치와 자기 충돌 위치사이의 제 2이동변위를 얻은 후 이 제 1이동변위와 제 2이동변위사이의 편차에 기초하여 로봇 암의 현재 위치를 정상 위치로 보정한다.